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Timer(IN:=Timer.IN,PT:=Timer.PT);
ErrorMode := IsClosed AND IsOpen;

CASE ValveState OF
  0: // Closed state
    IF OpenValve THEN
		ValveState := 1; // Start Closing state
		
		// Reset the timer
		Timer.IN := FALSE;
		Timer.PT := T1;
		Timer.IN := TRUE; // Start Closing timer T1
    END_IF;
	
	IF NOT IsClosed THEN
		ValveState := 1;
		ManualMode := TRUE;
	END_IF
	
	IF Timer.Q THEN
		Timer.IN := FALSE;
	END_IF

  1: // Attempting to close
  	IF NOT isClosed THEN
		IF OpenValve THEN // Check if we commanded it to change state or if it was a forced change (manual)
			OpenValve := FALSE;
			IdleMode := FALSE;
			ManualMode := FALSE;
		ELSE
			ManualMode := TRUE;
		END_IF
		
		// Reset the timer
		Timer.IN := FALSE;
		Timer.PT := T2;	
		Timer.IN := TRUE; // Start Opening TImer T2
		ValveState := 2; // Enter
	END_IF
	
	IF isClosed AND Timer.Q AND NOT (ValveState = 2) THEN // State never changed, setting to idle mode.
		IdleMode := TRUE;
		OpenValve := FALSE;
		ValveState := 0;
	END_IF

  2: // Just Closed, now Opening
    IF IsOpen THEN // opening
      ValveState := 3;
	  SlowTurning := FALSE;
	END_IF;
	
	IF Timer.Q THEN
		SlowTurning := TRUE;
		
		// Reset the timer
		Timer.IN := FALSE; 
	END_IF

  3: // Opened state
    IF CloseValve THEN
		ValveState := 4; // Start Opening state
		
		// Reset the timer
		Timer.IN := FALSE;
		Timer.PT := T1;
		Timer.IN := TRUE; // Start Opening timer T1
    END_IF;
	
	IF NOT IsOpen THEN
		ValveState := 4;
		ManualMode := TRUE;
	END_IF
	
	IF Timer.Q THEN
		Timer.IN := FALSE;
	END_IF
	
  4: // Attempting to open
  	IF NOT IsOpen THEN
		IF CloseValve THEN // Check if we commanded it to change state or if it was a forced change (manual)
			CloseValve := FALSE;
			IdleMode := FALSE;
			ManualMode := FALSE;
		ELSE
			ManualMode := TRUE;
		END_IF
		
		// Reset the timer
		Timer.IN := FALSE;
		Timer.PT := T2;	
		Timer.IN := TRUE; // Start Closing TImer T2
		ValveState := 5; // Enter
	END_IF
	
	IF IsOpen AND Timer.Q AND NOT (ValveState = 5) THEN // State never changed, setting to idle mode.
		IdleMode := TRUE;
		CloseValve := FALSE;
		ValveState := 3;
	END_IF

  5: // Just Opened, now Closing
    IF IsClosed THEN // Closing
      ValveState := 0;
	  SlowTurning := FALSE;
	END_IF;
	
	IF Timer.Q THEN
		SlowTurning := TRUE;
		
		// Reset the timer
		Timer.IN := FALSE; 
	END_IF
 
END_CASE